U.S. patent application number 16/302936 was filed with the patent office on 2019-04-25 for transformable robot.
The applicant listed for this patent is Brave Robotics Inc.. Invention is credited to Kenji Ishida.
Application Number | 20190118106 16/302936 |
Document ID | / |
Family ID | 60325374 |
Filed Date | 2019-04-25 |
United States Patent
Application |
20190118106 |
Kind Code |
A1 |
Ishida; Kenji |
April 25, 2019 |
Transformable Robot
Abstract
A transformable robot that can take a vehicle form and a
humanoid form. In the vehicle form, the robot has a front side
section located on the side of a front center section, a cockpit in
which a seat is arranged, a door section located on the side of the
cockpit, and a rear upper section and rear lower section located
behind the cockpit respectively upward and downward. In the
humanoid form, the front center section constitutes a head, the
front side section constitutes a chest, the door section
constitutes an arm, the rear upper section constitutes a lower
back, and the rear lower section constitutes right and left legs
and feet. The seat surface of the seat of the cockpit are kept at a
same slope angle in both the vehicle form and the humanoid
form.
Inventors: |
Ishida; Kenji; (Tokyo,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Brave Robotics Inc. |
Tokyo |
|
JP |
|
|
Family ID: |
60325374 |
Appl. No.: |
16/302936 |
Filed: |
May 18, 2017 |
PCT Filed: |
May 18, 2017 |
PCT NO: |
PCT/JP2017/018656 |
371 Date: |
November 19, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63H 3/04 20130101; A63H
3/20 20130101; B62D 61/12 20130101; A63H 33/003 20130101; A63H
17/26 20130101; B62D 63/04 20130101 |
International
Class: |
A63H 33/00 20060101
A63H033/00; A63H 17/26 20060101 A63H017/26; A63H 3/04 20060101
A63H003/04; A63H 3/20 20060101 A63H003/20 |
Foreign Application Data
Date |
Code |
Application Number |
May 19, 2016 |
JP |
2016-100429 |
Claims
1. A transformable robot that can take a vehicle form and a
humanoid form, the transformable robot comprising: a front center
section; a front right side section and a front left side section;
a cockpit; a right door section and a left door section; a rear
upper section; and a rear right lower section and a rear left lower
section, wherein in the vehicle form, the front center section is
located at a front center, the front right side section and the
front left side section are located on sides of the front center
section, the cockpit is located behind the front center section,
the cockpit in which a seat is arranged, the right door section and
the left door section are located on sides of the cockpit, the rear
upper section is located upward behind the cockpit, and the rear
right lower section and the rear left lower section are located
under the rear upper section; wherein in the humanoid form, the
front center section constitutes a head, the front right side
section and the front left side section constitute a chest, the
right door section and the left door section constitute
respectively right and left arms, the rear upper section
constitutes a lower back, and the rear right lower section and the
rear left lower section constitute respectively right and left legs
and feet; wherein a seat surface of the seat of the cockpit is at a
same slope angle in any of the vehicle form and the humanoid form;
wherein the cockpit and the rear upper section are connected to
each other by a front link and a rear link disposed in the
longitudinal direction; wherein a distance from a cockpit side
connection point to a rear upper side connection point of the front
link is configured to be same as a distance from a cockpit side
connection point to a rear upper side connection point of the rear
link; and wherein a line connecting between the cockpit side
connection point and the rear upper side connection point of the
front link and a line connecting between the cockpit side
connection point and the rear upper side connection point of the
rear link are disposed in parallel to each other.
2. (canceled)
3. The transformable robot according to claim 1, wherein the rear
upper section, the rear right lower section and the rear left lower
section are horizontal both in the vehicle form and the humanoid
form; wherein the rear upper section, the rear right lower section
and the rear left lower section are connected by an upper part link
group and a lower part link group disposed symmetrically or
approximately symmetrically in the vertical direction; and wherein
when transforming between the vehicle form and the humanoid form,
the upper link group and the lower link group are symmetrically
driven.
4. (canceled)
5. The transformable robot according to claim 1, wherein when the
vehicle form is transformed into the humanoid form, the front
center section moves above a front window section disposed on a
front of the cockpit, and the front right side section and the
front left side section move in a mutually approaching direction.
Description
TECHNICAL FIELD
[0001] The present invention relates to a transformable robot that
can transform mutually between a humanoid form and a vehicle
form.
BACKGROUND ART
[0002] Conventionally, in fields such as toys, there are
transformable robots that can transform from a vehicle form to a
humanoid form or other forms freely (refer to Patent Documents 1 to
4 for examples). These robots, having a plurality of components
constituting a vehicle form separably, transform the vehicle form
into a humanoid form by reconstituting arrangement and posture of
each of the separated components.
[0003] In Patent Documents 1 to 4, when transforming from the
vehicle form to the humanoid form, a cockpit is configured to
change in posture from being longer in the longitudinal direction
in the vehicle form to being longer in the vertical direction in
the humanoid form. This results from the fact that while a vehicle
is normally configured to have a cockpit that is longer in the
longitudinal direction, a human has a breastplate that is longer in
the vertical direction.
[0004] However, if greatly transforming the posture of the cockpit
in transformation, the posture of the cockpit of the transformable
robot becomes largely different not only in the case of the
transformable robot as a toy, but also when a human being actually
gets in the cockpit. In this connection, there arises a problem of
difficulty in maintaining the posture of an operator getting in the
cockpit before, after and in the middle of transformation.
RELATED ART DOCUMENTS
Patent Documents
[0005] [Patent Document 1] Japanese Unexamined Patent Application
Publication No. 2009-189521 [0006] [Patent Document 2] Japanese
Unexamined Patent Application Publication No. 2009-219714 [0007]
[Patent Document 3] Japanese Unexamined Patent Application
Publication No. 2013-244198 [0008] [Patent Document 4] Japanese
Unexamined Patent Application Publication No. 2015-130936
DISCLOSURE OF THE INVENTION
Problems to be Solved by the Invention
[0009] The present invention was accomplished in view of
above-mentioned point, and the purpose is to provide the
transformable robot enabling posture transformation between the
vehicle form and the humanoid form without changing the posture of
the cockpit.
Means of Solving the Problems
[0010] To solve the above-mentioned problem, a transformable robot
(1) according to the present invention is transformable robot (1)
that can take a vehicle form (1C) and a humanoid form (1H). In the
vehicle form (1C), the transformable robot (1) has a front center
section (11) located at the front center, a front right side
section (12R) and a front left side section (12L) located on the
sides of the front center section (11), a cockpit (21), in which a
seat (21S) is arranged, located behind the front center section
(11), a right door section (22R) and a left door section (22L)
located on the sides of the cockpit (21), a rear upper section (31)
located upward behind the cockpit (21), and a rear right lower
section (32R) and a rear left lower section (32L) located under the
rear upper section (31). In the humanoid form (1H), the front
center section (11) constitutes a head. The front right side
section (12R) and the front left side section (12L) constitute a
chest. The right door section (22R) and the left door section (22L)
constitute right and left arms respectively. The rear upper section
(31) constitutes a lower back. The rear right lower section (32R)
and the rear left lower section (32L) constitute right and left
legs and feet respectively. A seat surface (21Sa) of the seat (21S)
in the cockpit (21) is at a same slope angle both in the vehicle
form (1C) and the humanoid form (1H).
[0011] In this way, if the seat surface (21Sa) of the seat (21S) is
configured at the same slope angle both in the vehicle form (1C)
and the humanoid form (1H), the transformable robot (1) that
enables the posture transformation between the vehicle form (1C)
and the humanoid form (1H) without changing the posture of the
front center section (11) serving as the cockpit can be
provided.
[0012] In addition, in the transformable robot (1) of the
above-described configuration, the cockpit (21) and the rear upper
section (31) are connected to each other by a front link (51) and a
rear link (52) disposed in the longitudinal direction. A distance
from a cockpit side connection point (51a) to a rear upper section
side connection point (51b) of the front link (51) is configured to
be the same as a distance from a cockpit side connection point
(52a) to a rear upper section side connection point (52b) of the
rear link (52). A line connecting between the cockpit side
connection point (51a) and the rear upper section side connection
point (51b) of the front link (51) may be disposed in parallel to a
line connecting between a cockpit side connection point (52a) and a
rear upper section side connection point (52b) of the rear link
(52).
[0013] In this way, if the line connecting between the connection
points (51a, 51b) of the front link (51) and the line connecting
between the connection points (52a, 52b) of the rear link (52) are
disposed in parallel to each other, and the distance between the
cockpit side connection point (51a) and the rear upper section side
connection point (51b) of the front link (51) is configured to be
the same as the distance between the cockpit side connection point
(52a) and the rear upper section side connection point (52b) of the
rear link (52), the four connection points of the cockpit side
connection point (51a), the rear upper side connection point (51b),
the cockpit side connection point (52a) and the rear upper side
connection point (52b) constitute a parallelogram. In any of the
vehicle form (1C) and the humanoid form (1H), and in any
intermediate form during transformation, the posture of the seat
surface (21Sa) of the seat (21S) at the front center section (11)
can be kept at the same slope angle.
[0014] Moreover, in the transformable robot (1) of the
above-described configuration, the rear upper section (31), the
rear right lower section (32R) and the rear left lower section
(32L) may be at a same slope angle both in the vehicle form (1C)
and the humanoid form (1H).
[0015] In this way, if the rear upper section (31), the rear right
lower section (32R) and the rear left lower section (32L) are
horizontal both in the vehicle form (1C) and the humanoid form
(1H), the posture of the seat surface (21Sa) of the seat (21S) can
kept horizontal before and after transformation.
[0016] In addition, in the transformable robot (1) of the
above-described configuration, the rear upper section (31), the
rear right lower section (32R) and the rear left lower section
(32L) are connected to each other by an upper link group (61) and a
lower link group (62) disposed symmetrically or approximately
symmetrically to each other in the vertical direction. At the time
of transformation between the vehicle form (1C) and the humanoid
form (1H), the upper link group (61) and the lower link group (62)
may be driven symmetrically.
[0017] In this way, if the upper link group (61) and the lower link
group (62) are driven symmetrically at the time of transformation
between the vehicle form (1C) and the humanoid form (1H), the rear
upper section (31) moves in the vertical direction with respect to
the rear right lower section (32R) and the rear left lower section
(32L) in contact with the land surface. Therefore, also in any
intermediate form during transformation, the posture of the rear
upper section (31) can be kept in parallel to the rear left lower
section (32R) and the rear left lower section (32L). And
consequently, the posture of the seat surface (21Sa) of the seat
(21S) in the cockpit (21) disposed at a slope angle with respect to
the rear upper section (31) can be kept at the same slope angle
before and after transformation.
[0018] Furthermore, in the transformable robot (1) of the
above-described configuration, in transformation from the vehicle
form (1C) to the humanoid form (1H), the front center section (11)
may be configured to move above a front window section (21F)
disposed at the front of the cockpit (21). And, the front right
side section (12R) and the front left side section (12L) may be
configured to move in a direction approaching to each other.
[0019] In this way, after moving the front center section (11),
serving as the head of the humanoid form (1H), above the front
window section (21F), the front right side section (12R) and the
front left side section (12L) are moved only in the horizontal
direction when constituting the chest of the humanoid form (1H).
Thus, the posture of the seat surface (21Sa) of the seat (21S) is
unaffected when constituting the head and the chest of the humanoid
form (1H), the transformation is completed while keeping the seat
surface (21Sa) at the same slope angle. It should be noted that the
bracketed reference numerals are examples of the elements of the
embodiment described later.
Effects of the Invention
[0020] According to the transformable robot in accordance with the
present invention, the transformation in posture between the
vehicle form and the humanoid form can be performed without
changing the posture of the cockpit.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] FIG. 1 is a side-view illustrating a vehicle form of a
transformable robot;
[0022] FIG. 2 is a perspective view illustrating a vehicle form of
a transformable robot;
[0023] FIG. 3 is a perspective view illustrating a humanoid form of
a transformable robot;
[0024] FIGS. 4A to 4C are explanatory views of transformation,
illustrating a positional relationship of a front section, a center
section and a rear section, of which FIG. 4A shows a vehicle form,
FIG. 4B shows an intermediate form, and FIG. 4C shows a state in
which the cockpit is mounted;
[0025] FIG. 5 is an explanatory view of transformation,
illustrating a perspective view of a state, in which the cockpit is
mounted;
[0026] FIGS. 6A to 6C are explanatory views of transformation,
illustrating a positional relationship of a rear upper section and
a rear lower section, of which FIG. 6A shows a vehicle form, FIG.
6B shows an intermediate form and FIG. 6C shows a humanoid
form;
[0027] FIG. 7 is an explanatory side-view illustrating
transformation when moving a head of a humanoid form; and
[0028] FIGS. 8A and 8B are explanatory perspective views
illustrating transformation when moving a head and a chest of a
humanoid form, of which FIG. 8A shows transformation when forming a
head and FIG. 8B shows transformation when forming a chest.
MODE FOR CARRYING OUT THE INVENTION
[0029] Hereinafter, an embodiment of the present invention will be
described in detail with reference to the accompanying drawings.
First, an appearance of a transformable robot 1 before and after
transformation and names of components will be described with
reference to FIGS. 1 to 3. FIG. 1 is a side-view illustrating a
vehicle form 1C of the transformable robot 1, of which a door
section 22 is open.
[0030] As shown in FIG. 1, the transformable robot 1 in the vehicle
form 1C is divided into a front section 10 located at the front,
including a front light Lf and a front wheel Wf, a center section
20 located at the center in the longitudinal direction, including
the door section 22 and a seat 21S, and a rear section 30 located
at the rear, including a rear light Lr and a rear wheel Wr.
[0031] FIG. 2 is a perspective view illustrating the vehicle form
1C of the transformable robot 1. As shown FIG. 2, in the vehicle
form 1C, the front section 10 has a front center section 11 and a
front side section 12 arranged on a side of the front center
section 11. The front center section 11 is located at the front
center, and a number plate NP of the vehicle is arranged on the
front center section 11. The front side section 12 is composed of a
front right side section 12R and a front left side section 12L and
has the front light Lf.
[0032] The center section 20 has a cockpit 21 arranged at the
center in the width direction and the door section 22 for getting
in and out of the cockpit 21. A transparent or semitransparent
front window section 21F is formed on the front of the cockpit 21,
allowing an operator seated on the seat 21S to view forward from
the seat 21S. A seat surface 21Sa is formed on the seat 21S. The
operator can get in the cockpit 21 by opening the door section 22
located on the right and left sides. The door section 22 is
composed of a right door section 22R and a left door section 22L
that can be opened in the outside direction using a motor that is
not illustrated in the figure.
[0033] The rear section 30 has a rear upper section 31 located
upward behind the cockpit 21 and a rear lower section 32 located
under the rear upper section 31. The lower rear section 32 is
composed of a rear right lower section 32R and a rear left lower
section 32L, at each of which a rear wheel Wr is arranged.
[0034] FIG. 3 is a perspective view illustrating the humanoid form
1H of the transformable robot 1. As shown in FIG. 3, when the
transformable robot 1 is in the humanoid form 1H, the front center
section 11 in the vehicle form 1C rises up around a turning shaft
11X and moves above the front window section 21F arranged on the
front of the cockpit 21. In this way, the front center section 11
becomes the head of the humanoid form 1H having a face 11a.
Moreover, in the humanoid form 1H, the front right side section 12R
and the front left side section 12L move in front of the face 11a
to form the chest.
[0035] It should be noted that, as described above, each of the
front right side section 12R and the front left side section 12L
constituting the chest in the humanoid form 1H have the front wheel
Wf. Here, the front wheel Wf is configured to be rotatably driven
also in the humanoid form 1H to function as so-called a reaction
wheel for posture control.
[0036] The right door section 22R and the left door section 22L in
the vehicle form 1C constitute right and left arms respectively in
the humanoid form 1H. As described above, the right and left door
sections 22 move so as to open with respect to the cockpit 21 by a
motor (not illustrated in the figure) provided between the cockpit
21 and these doors. Furthermore, in the humanoid form 1H, the door
section 22 is separated into a plurality of members that freely
move by links and motors at junctions between the members that are
not illustrated. In this embodiment, the door section 22 in the
vehicle form 1C is separated into a shoulder section 22a, an upper
arm 22b, an elbow 22c, a forearm 22d and a finger 22e in the
humanoid form 1H.
[0037] Also, the upper rear section 31 in the vehicle form 1C
constitutes a lower back in the humanoid form 1H. The rear right
lower section 32R and the rear left lower section 32L in the
vehicle form 1C constitute respectively right and left legs and
feet in the humanoid form 1H.
[0038] Next, how each of the components moves at the time of
transformation from the vehicle form 1C to the humanoid form 1H
will be described with reference to FIGS. 4 to 8. First, the front
section 10 and the center section 20 rise up from the rear section
30. FIGS. 4A to 4C are explanatory views of transformation,
illustrating positional relationships of the front section 10 and
the center section 20 with the rear section 30. FIG. 4A shows the
vehicle form 1C. FIG. 4B shows an intermediate form. FIG. 4C shows
a state in which the cockpit is mounted.
[0039] As shown in FIG. 4, the cockpit 21 and the rear upper
section 31 are connected to each other by two links disposed in the
longitudinal direction. In FIG. 4, only one pair of a front link 51
and a rear link 52 is illustrated for explanation of the movement
of the links. In the transformable robot 1 of this embodiment, two
pairs of the front link 51 and the rear link 52 are disposed in the
width direction. Installation intensity of the cockpit 21 to the
rear upper section 31 can be enhanced by attaching the plurality of
the pairs of the links in the longitudinal direction.
[0040] The front link 51 has a cockpit side connection point 51a
that serves as a connection point to the cockpit 21 and a rear
upper side connection point 51b that serves a connection point to
the upper rear section 31. In addition, the rear link has a cockpit
side connection point 52a that serves a connection point to the
cockpit 21 and a rear upper side connection point 52b that serves
as a connection point to the upper rear section 31.
[0041] Here, a distance between the cockpit side connection point
51a and the rear upper side connection point 51b of the front link
51 is configured to be the same as a distance between the cockpit
side connection point 52a and the rear upper side connection point
52b of the rear link 52. In addition, the front link 51 and the
rear link 52 are disposed so that the line connecting between the
cockpit side connection point 51a and the rear upper side
connection point 51b of the front link 51 and the line between the
cockpit side connection point 52a and the rear upper side
connection point 52b of the rear link 52 are in parallel to each
other.
[0042] Moreover, a fan-shaped gear 52g, along with the rear upper
side connection point 52b, serving as a turning shaft is disposed
integrally with the rear link 52. Furthermore, a rear link driving
motor 52M for driving the fan-shaped gear 52g is disposed to the
upper rear 31.
[0043] Movements at the time of transformation in this
configuration will be described. First, as shown in FIG. 4A, the
front link 51 and the rear link 52 in the vehicle form 1C are
extended in the longitudinal direction of the vehicle. In this
state, the front section 10, the center section 20 and the rear
section 30 are in line in this order from forward to backward.
[0044] As shown in FIG. 4B, when the rear link driving motor 52M
rotates a motor shaft counterclockwise in the figure, the
fan-shaped gear 52g engaged with the motor shaft turns clockwise.
Then, the rear link 52 integrated with the fan-shaped gear 52g
turns clockwise. And, the cockpit 21 and the front section 10 in
front of the cockpit 21 are lifted upward by the movement of the
cockpit side connection point 52a. By the movement of the cockpit
21 upward, the front link 51 connected to the cockpit 21 also turns
clockwise in the figure. Thus, the front section 10 and the center
section 20 including the cockpit 21 are lifted upward above the
rear section 30.
[0045] As shown in FIG. 4C, when the front section 10 and the
center section 20 move to a position above the rear section 30, the
rear link driving motor 52M stops driving the fan-shaped gear 52g.
In this way, the front section 10 and the center section 20 are
held above the rear section 30 by the front link 51 and the rear
link 52, and thus the cockpit 21 is mounted above the rear section
30.
[0046] Consequently, the seat surface 21Sa of the seat 21S in the
cockpit 21 keeps the same slope angle from the vehicle form 1C to
the state in which the cockpit 21 is mounted above the rear section
30 and in the intermediate state. This is because during the
transformation, the line connecting between the cockpit side
connection point 51a of the front link 51 and the cockpit side
connection point 52a of the rear link 52 moves in parallel to the
line connecting between the rear upper side connection point 51b of
the front link 51 and the rear upper side connection point 52b of
the rear link 52, whereby in any form, the seat surface 21Sa in the
vehicle form 1C can be kept at the same slope angle.
[0047] FIG. 5 is an explanatory view of transformation,
illustrating a perspective view of the state in which the cockpit
21 is mounted. FIG. 5 is a perspective view of the state shown in
FIG. 4C. As shown in FIG. 5, in the state in which the cockpit 21
is mounted above the rear section 30, the front section 10 is in
the same state as in the vehicle form 1C. Namely, the front right
side section 12R and the front left side section 12L are adjacent
respectively to right and left of the front center section 11. The
rear section 30 is also in the same state as in the vehicle form
1C. Namely, the upper rear section 31 is mounted on the rear lower
section 32 in contact therewith.
[0048] On the other hand, the positional relationship of the
cockpit 21 of the center section 20 with the front section 10 is
the same as in the vehicle form 1C, but the right door section 22R
and the left door section 22L arranged respectively to right and
left of the cockpit 21 are separated from the cockpit 21.
[0049] FIGS. 6A to 6C are explanatory views of transformation,
illustrating the positional relationship of the rear upper section
31 and the rear lower section 32, of which FIG. 6A shows the state
in which the cockpit 21 is mounted, FIG. 6B shows an intermediate
form and FIG. 6C shows the humanoid form 1H. The front section 10
and the center section 20 are omitted in these figures for
convenience of description. FIG. 6A shows approximately the same
state as FIG. 4C and FIG. 5.
[0050] As is shown in FIG. 6, the upper rear section 31 is
connected to the rear right lower section 32R and the rear left
lower section 32L by two link groups disposed approximately
symmetrically in the vertical direction. Specifically, an upper
link group 61 is disposed above a base 70, and a lower link group
62 is disposed under the base 70. In addition, an upper link group
driving motor 61M that drives the upper link group 61 is disposed
at an upper end of the base 70. A lower link group driving motor
62M that drives the lower link group 62 is disposed at a lower end
of the base 70.
[0051] In this embodiment, the upper link group 61 has an upper
first link 61a driven directly by the upper link group driving
motor 61M, an upper second link 61b, of which an end is connected
to the upper first link 61a, and an upper third link 61c, of which
an end is connected to the upper second link 61b. The other end of
the upper third link 61c is connected to the base 70. Thus, the
upper link group driving motor 61M, the upper first link 61a, the
upper second link 61b, the upper third link 61c and the base 70 are
connected to each other in series. In addition, the upper second
link 61b is connected to the upper rear section 31.
[0052] In this embodiment, the lower link group 62 has a lower
first link 62a driven directly by a lower link group driving motor
62M, a lower second link 62b, of which one end is connected to the
lower first link 62a and a lower third link 62c, of which one end
is connected to the lower second link 62b. The other end of the
lower third link 62c is connected to the base 70. Thus, the lower
link group driving motor 62M, the lower first link 62a, the lower
second link 62b, the lower third link 62c and the base 70 are
connected to each other in series. And, the lower second link 62b
is connected to the rear lower section 32.
[0053] In this way, the upper link group 61 and the lower link
group 62 are provided approximately symmetrically to each other and
respectively upward and downward from the base 70. When performing
transformation between the vehicle form 1C and the humanoid form
1H, the upper link group 61 and the lower link group 62 are driven
symmetrically as follows.
[0054] As shown in FIG. 6A, in the state in which the rear upper
section 31 is in contact with the rear lower section 32, the upper
link group 61 and the lower link group 62 are horizontally folded
respectively above and under the base 70. Thus, the rear upper
section 31 and the rear lower section 32 can be in contact with
each other.
[0055] As shown FIG. 6B, the upper link group driving motor 61M and
the lower link group driving motor 62M disposed on the base 70 are
driven simultaneously in the directions of the arrows in the
figure. Accordingly, the upper link group 61 and the lower link
group 62 extend respectively upward and downward from the base
70.
[0056] Consequently, the rear upper section 31 connected to the
upper second link 61b rises upward relative to the base 70, and the
rear lower section 32 connected to the lower second link 62b comes
downward relative to the base 70. However, in reality, the base 70
is fixed at a position independent of both the rear upper section
31 and the rear lower section 32. Therefore, the base 70 rises up
and the rear upper section 31 rises farther upward while the rear
lower section 32 stays on the ground without moving.
[0057] As shown in FIG. 6C, when the upper first link 61a and the
upper third link 61c of the upper link group 61 extend in the
vertical direction, the rear upper section 31 reaches the highest
position. At this time, the upper link group driving motor 61M
stops. Since the lower link group 62 is driven symmetrically to the
upper link group 61 in this case, the lower first link 62a and the
lower third link 62c of the lower link group 62 extend in the
vertical direction.
[0058] In this case, the rear upper section 31 and the rear lower
section 32 are farthest from each other. And, the rear upper
section 31 constituting the lower back moves to the highest
position, and the rear right lower section 32R and the rear left
lower section 32L constituting the legs and feet are separated
farthest from each other. At this time, the upper part link group
61 constitutes a femoral section of the humanoid form 1H. The lower
link group 62 and the base 70 constitute respectively a part of a
lower thigh and a knee of the humanoid form 1H. Thus, these
constitute the humanoid form 1H that stands upright.
[0059] Here, when the rear section 30 that was in the same state in
the vehicle form 1C is transformed into the humanoid form 1H, the
upper link group 61 connected to the rear upper section 31 and the
lower link group 62 connected to the rear lower section 32 are
driven symmetrically to each other respectively upward and
downward. And, the distance between the upper first link 61a and
the lower first link 62a is approximately the same as the distance
between the upper third link 61c and the lower third link 62c.
Thus, the rear upper section 31 rises up, keeping parallel to the
rear right lower section 32R and the rear left lower section
32L.
[0060] In this embodiment, the lower first link 62a is in the form
of an L-shape unlike the upper first link 61a. And, the upper link
group 61 and the lower link group 62 are configured approximately
symmetrically to each other respectively upward and downward.
However, the configurations and the shapes are not limited to those
described here. Namely, the lower first link may be configured in
an I-shape like the upper first link 61a, and the upper link group
61 and the lower link group 62 may be configured symmetrically to
each other respectively upward and downward.
[0061] FIG. 7 is an explanatory side-view illustrating
transformation when moving the head of the humanoid form 1H. As
shown in FIG. 7, the front center section 11 turns around the
turning shaft 11X in the direction of the arrow in the figure and
moves above the front window section 21F. At this time, the face
11a of the front center section 11 appears and constitutes the
head.
[0062] FIGS. 8A and 8B are explanatory perspective views
illustrating transformation when moving the head and the chest of
the humanoid form 1H, of which FIG. 8A shows transformation when
forming the head and, FIG. 8B shows transformation when forming the
chest. FIG. 8A shows the same state as FIG. 7.
[0063] As shown in FIG. 8A, the front center section 11 turns
upward around the turning shaft 11X and moves above the front
window section 21F, whereby the face 11a appears as described
above. Then, a gap is generated at a place, between the front right
side section 12R and the front left side section 12L, where the
front center section 11 was before. Thereafter, as shown in FIG.
8B, the front right side section 12R and the front left side
section 12L move in the mutually approaching direction by a motor
that is not illustrated in the figure. In this way, the humanoid
form 1H of the transformable robot 1 is completed.
[0064] As described above, in the transformable robot 1 of this
embodiment, the seat surface 21Sa of the seat 21S is configured at
the same slope angle both in the vehicle form 1C and the humanoid
form 1H. This enables posture transformation without changing the
posture of the front center section 11 serving as the cockpit
between the vehicle form 1C and the humanoid form 1H.
[0065] Furthermore, the line connecting between the connection
points 51a, 51b of the front link 51 are disposed in parallel to
the line connecting between the connection points 52a, 52b of the
rear link 52. The distance between the cockpit side connection
point 51a and the rear upper section side connection point 51b of
the front link 51 is configured to be the same as the distance
between the cockpit side connection point 52a and the rear upper
section side connection point 52b of the rear link 52. Thus, four
connection points of the cockpit side connection point 51a, the
rear upper side connection point 51b, the cockpit side connection
point 52a and the rear upper side connection point 52b constitute a
parallelogram. In any of the vehicle form 1C and the humanoid form
1H, and in any intermediate form during transformation, the posture
of the seat surface 21Sa of the seat 21S of the front center
section 11 can be kept at the same slope angle.
[0066] Moreover, the rear upper section 31, the rear right lower
section 32R and the rear left lower section 32L are horizontal both
in the vehicle form 1C and the humanoid form 1H. According to this,
the posture of the seat surface 21Sa of the seat 21S can kept
horizontal before and after transformation.
[0067] When performing transformation between the vehicle form 1C
and the humanoid form 1H, the upper link group 61 and the lower
link group 62 are driven symmetrically to each other. According to
this, the rear upper section 31 moves in the vertical direction
with respect to the rear right lower section 32R and the rear left
lower section 32L in contact with the land surface. Therefore, in
any intermediate form of transformation, the posture of the rear
upper section 31 can be kept in parallel to the rear right lower
section 32R and the rear left lower section 32L. Consequently, the
posture of the seat surface 21Sa of the seat 21S in the cockpit 21
disposed keeping a slope angle with respect to the rear upper
section 31 can be kept at the same slope angle before and after
transformation.
[0068] In this way, after moving the front center section 11,
serving as the head of the humanoid form 1H, above the front window
section 21F, the front right side section 12R and the front left
side section 12L move only in the horizontal direction when
constituting the chest of the humanoid form 1H. Therefore, the
posture of the seat surface 21Sa of the seat 21S is unaffected when
constituting the head and the chest of the humanoid form 1H. This
enables completion of transformation, keeping the seat surface 21Sa
at the same slope angle.
[0069] While one embodiment of the invention has been described
above, the invention is not limited to the above-mentioned
embodiment but various modifications are possible within the scope
of the technical idea as defined in the claims, the specification,
and the drawings.
* * * * *